PNI SENtral MandM - Manual (Page 20)

PNI Sensor Corporation Doc #1020129 revE
SENtral M&M Technical Datasheet Page 19
matrix, or Euler angles (heading, pitch, and roll), see Appendix I. The resolution is
32 kHz for all timestamps.
Note: All multi-byte elements are stored and transmitted using the Little Endian convention: the
least significant byte is stored at the lowest address and transmitted first over the I
2
C bus.
Table 4-4: Results Registers
Name
Address
(Hex)
Description Format Full-Scale Range
QX 00 – 03 Normalized Quaternion – X, or Heading Float32 0.0 – 1.0, or ±

QY 04 – 07 Normalized Quaternion – Y, or Pitch Float32 0.0 – 1.0, or ±

/2
QZ 08 – 0B Normalized Quaternion – Z, or Roll Float32 0.0 – 1.0, or ±

QW 0C – 0F Normalized Quaternion – W, or 0.0 Float32 0.0 – 1.0
QTime 10 – 11 Quaternion Data Timestamp UInt16 0 – 2048 msec
MX 12 – 13 Magnetic Field – X Axis, or Raw Mag Data Int16 ±1000 µT when scaled
MY 14 – 15 Magnetic Field – Y Axis, or Raw Mag Data Int16 ±1000 µT when scaled
MZ 16 – 17 Magnetic Field – Z Axis, or Raw Mag Data Int16 ±1000 µT when scaled
MTime 18 – 19 Magnetometer Interrupt Timestamp UInt16 0 – 2048 msec
AX 1A – 1B Linear Acceleration – X Axis, or Raw Accel Data Int16 ±16 g when scaled
AY 1C – 1D Linear Acceleration – Y Axis, or Raw Accel Data Int16 ±16 g when scaled
AZ 1E – 1F Linear Acceleration – Z Axis, or Raw Accel Data Int16 ±16 g when scaled
ATime 20 – 21 Accelerometer Interrupt Timestamp UInt16 0 – 2048 msec
GX 22 – 23 Rotational Velocity – X Axis, or Raw Gyro Data Int16 ±5000°/s when scaled
GY 24 – 25 Rotational Velocity – Y Axis, or Raw Gyro Data Int16 ±5000°/s when scaled
GZ 26 – 27 Rotational Velocity – Z Axis, or Raw Gyro Data Int16 ±5000°/s when scaled
GTime 28 – 29 Gyroscope Interrupt Timestamp UInt16 0.0 – 2.048 sec
4.4 Standby State
In Standby State overall system power consumption is dramatically reduced because both the
SENtral algorithm and the sensors are shut down. Table 4-5 provides the registers associated
with Standby State.